{
  "object_name": "Screwdriver",
  "object_path": "/workspace/data/0001/objects/stl/Screwdriver.stl",
  "coordinate_system": "world",
  "translation_unit": "metre",
  "instance_count": 1,
  "low_support": false,
  "instances": [
    {
      "instance_id": "Screwdriver_001",
      "instance_index": 1,
      "R": [
        [
          0.29070652964026145,
          -0.7520578202142584,
          0.5915223991355638
        ],
        [
          0.27342655424380913,
          -0.5271443809792136,
          -0.8045848128298211
        ],
        [
          0.9169120094419487,
          0.395635990092685,
          0.05238826475946376
        ]
      ],
      "quaternion_xyzw": [
        0.6643535666081752,
        -0.18011164913815325,
        0.5676323889848112,
        0.4516498681004212
      ],
      "translation": [
        0.08754601090021788,
        0.10761757679467297,
        0.37085096098067905
      ],
      "world_from_object": [
        [
          0.29070652964026145,
          -0.7520578202142584,
          0.5915223991355638,
          0.08754601090021788
        ],
        [
          0.27342655424380913,
          -0.5271443809792136,
          -0.8045848128298211,
          0.10761757679467297
        ],
        [
          0.9169120094419487,
          0.395635990092685,
          0.05238826475946376,
          0.37085096098067905
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "number_of_inliers": 40,
      "number_of_position_inliers": 40,
      "number_of_orientation_inliers": 8,
      "orientation_status": "consensus",
      "orientation_threshold_deg": 5.0,
      "position_inlier_frame_ids": [
        0,
        10,
        17,
        20,
        22,
        25,
        27,
        32,
        35,
        37,
        54,
        56,
        58,
        82,
        90,
        97,
        100,
        102,
        104,
        111,
        116,
        128,
        133,
        136,
        141,
        160,
        163,
        167,
        178,
        181,
        183,
        185,
        212,
        218,
        222,
        226,
        231,
        236,
        244,
        249
      ],
      "orientation_inlier_frame_ids": [
        100,
        104,
        111,
        163,
        181,
        212,
        226,
        231
      ],
      "inlier_frame_ids": [
        100,
        104,
        111,
        163,
        181,
        212,
        226,
        231
      ],
      "observations": [
        {
          "frame_id": 0,
          "detection_index": 0,
          "bbox": [
            394,
            108,
            196,
            160
          ],
          "score": 0.5751934051513672,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.004797247313521795,
          "rotation_error_deg": 11.831949316443923
        },
        {
          "frame_id": 10,
          "detection_index": 0,
          "bbox": [
            458,
            180,
            294,
            152
          ],
          "score": 0.5789005160331726,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0012220812835768455,
          "rotation_error_deg": 33.15581411668468
        },
        {
          "frame_id": 17,
          "detection_index": 0,
          "bbox": [
            484,
            278,
            298,
            158
          ],
          "score": 0.6425980925559998,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0022050594738831264,
          "rotation_error_deg": 13.332178864536234
        },
        {
          "frame_id": 20,
          "detection_index": 0,
          "bbox": [
            432,
            414,
            332,
            90
          ],
          "score": 0.528453528881073,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0025320390547844255,
          "rotation_error_deg": 14.913536403742802
        },
        {
          "frame_id": 22,
          "detection_index": 0,
          "bbox": [
            392,
            486,
            314,
            56
          ],
          "score": 0.45845720171928406,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.003799607559110939,
          "rotation_error_deg": 33.48534802516151
        },
        {
          "frame_id": 25,
          "detection_index": 0,
          "bbox": [
            360,
            440,
            272,
            42
          ],
          "score": 0.42905569076538086,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.004002656028335694,
          "rotation_error_deg": 16.678738694827228
        },
        {
          "frame_id": 27,
          "detection_index": 0,
          "bbox": [
            288,
            266,
            274,
            68
          ],
          "score": 0.4898158311843872,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0037718707449433484,
          "rotation_error_deg": 18.306373882192403
        },
        {
          "frame_id": 32,
          "detection_index": 0,
          "bbox": [
            426,
            0,
            230,
            162
          ],
          "score": 0.4181312918663025,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0026704849826574913,
          "rotation_error_deg": 40.503839751845426
        },
        {
          "frame_id": 35,
          "detection_index": 0,
          "bbox": [
            550,
            6,
            186,
            276
          ],
          "score": 0.484700083732605,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0006766713099852175,
          "rotation_error_deg": 22.90917421963737
        },
        {
          "frame_id": 37,
          "detection_index": 0,
          "bbox": [
            616,
            102,
            160,
            272
          ],
          "score": 0.44959336519241333,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0040267143725915815,
          "rotation_error_deg": 19.81117314875957
        },
        {
          "frame_id": 54,
          "detection_index": 0,
          "bbox": [
            442,
            336,
            352,
            186
          ],
          "score": 0.6275084614753723,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.003994969689360093,
          "rotation_error_deg": 26.762393114850962
        },
        {
          "frame_id": 56,
          "detection_index": 0,
          "bbox": [
            374,
            364,
            370,
            102
          ],
          "score": 0.5177962183952332,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.003139580695625218,
          "rotation_error_deg": 6.343423149613395
        },
        {
          "frame_id": 58,
          "detection_index": 0,
          "bbox": [
            372,
            418,
            344,
            46
          ],
          "score": 0.41541042923927307,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0020024016629861573,
          "rotation_error_deg": 21.501869576491263
        },
        {
          "frame_id": 82,
          "detection_index": 0,
          "bbox": [
            368,
            298,
            314,
            48
          ],
          "score": 0.453572154045105,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0018947609138714491,
          "rotation_error_deg": 42.39894409232575
        },
        {
          "frame_id": 90,
          "detection_index": 0,
          "bbox": [
            482,
            400,
            294,
            154
          ],
          "score": 0.6021478772163391,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.002349111382968333,
          "rotation_error_deg": 35.233098599505915
        },
        {
          "frame_id": 97,
          "detection_index": 0,
          "bbox": [
            354,
            416,
            316,
            82
          ],
          "score": 0.42002007365226746,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0007730304403051178,
          "rotation_error_deg": 9.266580487701038
        },
        {
          "frame_id": 100,
          "detection_index": 0,
          "bbox": [
            214,
            288,
            326,
            84
          ],
          "score": 0.5241439938545227,
          "selected_position_inlier": true,
          "selected_orientation_inlier": true,
          "translation_error_m": 0.002049545817504983,
          "rotation_error_deg": 3.5317716149022673
        },
        {
          "frame_id": 102,
          "detection_index": 0,
          "bbox": [
            268,
            232,
            278,
            142
          ],
          "score": 0.5977016091346741,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.004391545488375373,
          "rotation_error_deg": 7.443800397944022
        },
        {
          "frame_id": 104,
          "detection_index": 0,
          "bbox": [
            364,
            212,
            228,
            160
          ],
          "score": 0.5883275270462036,
          "selected_position_inlier": true,
          "selected_orientation_inlier": true,
          "translation_error_m": 0.0036328029485040245,
          "rotation_error_deg": 3.563042595212772
        },
        {
          "frame_id": 111,
          "detection_index": 0,
          "bbox": [
            328,
            234,
            292,
            70
          ],
          "score": 0.42410552501678467,
          "selected_position_inlier": true,
          "selected_orientation_inlier": true,
          "translation_error_m": 0.002417039076617455,
          "rotation_error_deg": 3.034706830229405
        },
        {
          "frame_id": 116,
          "detection_index": 0,
          "bbox": [
            266,
            356,
            292,
            94
          ],
          "score": 0.49052298069000244,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0024715685037816895,
          "rotation_error_deg": 43.96611037303819
        },
        {
          "frame_id": 128,
          "detection_index": 0,
          "bbox": [
            458,
            352,
            338,
            102
          ],
          "score": 0.5206553339958191,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.003425624045170861,
          "rotation_error_deg": 24.077763949802577
        },
        {
          "frame_id": 133,
          "detection_index": 0,
          "bbox": [
            390,
            480,
            368,
            50
          ],
          "score": 0.44771501421928406,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0010568372690337282,
          "rotation_error_deg": 39.99054254101166
        },
        {
          "frame_id": 136,
          "detection_index": 0,
          "bbox": [
            382,
            430,
            316,
            46
          ],
          "score": 0.4109014868736267,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0035410583650597287,
          "rotation_error_deg": 11.881348681044397
        },
        {
          "frame_id": 141,
          "detection_index": 0,
          "bbox": [
            384,
            364,
            278,
            42
          ],
          "score": 0.3943067789077759,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.00455465867486492,
          "rotation_error_deg": 23.51602618196904
        },
        {
          "frame_id": 160,
          "detection_index": 0,
          "bbox": [
            198,
            336,
            360,
            94
          ],
          "score": 0.4917788803577423,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.002074219747900333,
          "rotation_error_deg": 33.831806821428586
        },
        {
          "frame_id": 163,
          "detection_index": 0,
          "bbox": [
            192,
            284,
            378,
            86
          ],
          "score": 0.48778000473976135,
          "selected_position_inlier": true,
          "selected_orientation_inlier": true,
          "translation_error_m": 0.004236889415564797,
          "rotation_error_deg": 2.41406278581525
        },
        {
          "frame_id": 167,
          "detection_index": 1,
          "bbox": [
            332,
            312,
            326,
            78
          ],
          "score": 0.39025360345840454,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.004318033977124744,
          "rotation_error_deg": 19.635224579204134
        },
        {
          "frame_id": 178,
          "detection_index": 0,
          "bbox": [
            340,
            424,
            324,
            78
          ],
          "score": 0.472153902053833,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0011351301908225867,
          "rotation_error_deg": 17.62077850820816
        },
        {
          "frame_id": 181,
          "detection_index": 0,
          "bbox": [
            288,
            334,
            314,
            48
          ],
          "score": 0.40227603912353516,
          "selected_position_inlier": true,
          "selected_orientation_inlier": true,
          "translation_error_m": 0.0026618233628942175,
          "rotation_error_deg": 2.8871028945353503
        },
        {
          "frame_id": 183,
          "detection_index": 0,
          "bbox": [
            254,
            268,
            310,
            58
          ],
          "score": 0.4910050928592682,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.002806570809648535,
          "rotation_error_deg": 34.14485506449415
        },
        {
          "frame_id": 185,
          "detection_index": 0,
          "bbox": [
            276,
            196,
            284,
            104
          ],
          "score": 0.5639527440071106,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0016701219415621073,
          "rotation_error_deg": 14.693140922290514
        },
        {
          "frame_id": 212,
          "detection_index": 0,
          "bbox": [
            404,
            300,
            254,
            88
          ],
          "score": 0.558739960193634,
          "selected_position_inlier": true,
          "selected_orientation_inlier": true,
          "translation_error_m": 0.0026766372423754547,
          "rotation_error_deg": 1.6991829172835866
        },
        {
          "frame_id": 218,
          "detection_index": 0,
          "bbox": [
            520,
            256,
            102,
            76
          ],
          "score": 0.3651989996433258,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.004648397152933145,
          "rotation_error_deg": 42.12826939397849
        },
        {
          "frame_id": 222,
          "detection_index": 0,
          "bbox": [
            400,
            164,
            240,
            116
          ],
          "score": 0.598086416721344,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0024896487444579824,
          "rotation_error_deg": 18.668089376438562
        },
        {
          "frame_id": 226,
          "detection_index": 0,
          "bbox": [
            376,
            274,
            272,
            70
          ],
          "score": 0.49899569153785706,
          "selected_position_inlier": true,
          "selected_orientation_inlier": true,
          "translation_error_m": 0.001480107225302531,
          "rotation_error_deg": 0.6738050244192351
        },
        {
          "frame_id": 231,
          "detection_index": 0,
          "bbox": [
            288,
            314,
            304,
            66
          ],
          "score": 0.3760262131690979,
          "selected_position_inlier": true,
          "selected_orientation_inlier": true,
          "translation_error_m": 0.004306914755601113,
          "rotation_error_deg": 0.9712674665486364
        },
        {
          "frame_id": 236,
          "detection_index": 0,
          "bbox": [
            360,
            326,
            264,
            64
          ],
          "score": 0.4710997939109802,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0019546748234194203,
          "rotation_error_deg": 25.910830649958548
        },
        {
          "frame_id": 244,
          "detection_index": 0,
          "bbox": [
            368,
            450,
            258,
            54
          ],
          "score": 0.34990012645721436,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.00319131533012982,
          "rotation_error_deg": 42.51020012740184
        },
        {
          "frame_id": 249,
          "detection_index": 0,
          "bbox": [
            418,
            528,
            252,
            50
          ],
          "score": 0.3874908983707428,
          "selected_position_inlier": true,
          "selected_orientation_inlier": false,
          "translation_error_m": 0.0019193325539502782,
          "rotation_error_deg": 33.03380657308248
        }
      ],
      "silhouette_iou_median": 0.8131849322053982,
      "silhouette_iou_frames": 40
    }
  ],
  "R": [
    [
      0.29070652964026145,
      -0.7520578202142584,
      0.5915223991355638
    ],
    [
      0.27342655424380913,
      -0.5271443809792136,
      -0.8045848128298211
    ],
    [
      0.9169120094419487,
      0.395635990092685,
      0.05238826475946376
    ]
  ],
  "quaternion_xyzw": [
    0.6643535666081752,
    -0.18011164913815325,
    0.5676323889848112,
    0.4516498681004212
  ],
  "translation": [
    0.08754601090021788,
    0.10761757679467297,
    0.37085096098067905
  ],
  "world_from_object": [
    [
      0.29070652964026145,
      -0.7520578202142584,
      0.5915223991355638,
      0.08754601090021788
    ],
    [
      0.27342655424380913,
      -0.5271443809792136,
      -0.8045848128298211,
      0.10761757679467297
    ],
    [
      0.9169120094419487,
      0.395635990092685,
      0.05238826475946376,
      0.37085096098067905
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "ransac": {
    "estimation_mode": "position_then_orientation",
    "translation_threshold_m": 0.005,
    "rotation_threshold_deg": 5.0,
    "maximum_rotation_threshold_deg": 30.0,
    "minimum_score": 0.0,
    "symmetry_mode": "auto",
    "symmetry_tolerance_fraction": 0.01,
    "number_of_rotational_symmetries": 4,
    "maximum_instances": 0,
    "minimum_instance_frame_fraction": 0.05,
    "low_support_fallback_used": false,
    "min_silhouette_iou": 0.67,
    "automatic_support_threshold_frames": 3,
    "position_suppression_threshold_m": 0.01,
    "number_of_candidate_frames": 46,
    "number_of_candidate_observations": 47,
    "number_of_raw_pose_clusters": 4,
    "number_of_instances": 1,
    "remaining_unclustered_observations": 0,
    "rejected_pose_clusters": [
      {
        "number_of_inliers": 4,
        "translation": [
          0.09172194606221315,
          0.10920801901036399,
          0.3675468475700748
        ],
        "reason": "duplicate_position_cluster",
        "duplicate_of": "Screwdriver_001"
      },
      {
        "number_of_inliers": 2,
        "translation": [
          0.08446862424674798,
          0.10245240253397264,
          0.36976385706190396
        ],
        "reason": "insufficient_unique_frame_support"
      },
      {
        "number_of_inliers": 1,
        "translation": [
          0.17722574375806088,
          0.16990198738235213,
          0.31454531526298135
        ],
        "reason": "insufficient_unique_frame_support"
      }
    ]
  },
  "skipped_frames": [
    {
      "frame_id": 62,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 65,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 67,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 68,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 70,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 72,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 77,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 114,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 150,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 189,
      "reason": "no_object_pose"
    }
  ],
  "sources": {
    "config_path": "/workspace/scripts/configs/default.yaml",
    "object_poses": "/workspace/data/0001/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json",
    "colmap_reconstruction": "/workspace/data/0001/reconstruction/sfm_filtered",
    "sim3_alignment": "/workspace/data/0001/reconstruction/metric_alignment"
  }
}